CN115648211A - Method, device and equipment for compensating attitude error of mechanical arm and storage medium - Google Patents
Method, device and equipment for compensating attitude error of mechanical arm and storage medium Download PDFInfo
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- CN115648211A CN115648211A CN202211341380.6A CN202211341380A CN115648211A CN 115648211 A CN115648211 A CN 115648211A CN 202211341380 A CN202211341380 A CN 202211341380A CN 115648211 A CN115648211 A CN 115648211A
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Abstract
The invention provides a method, a device, equipment and a storage medium for compensating attitude errors of a mechanical arm, wherein the method comprises the following steps: calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and the navigation camera; acquiring the pose of the characteristic point of the end tool under a flange coordinate system of the mechanical arm through a probe; and calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the tail end tool in a mechanical arm coordinate system. According to the method, the probe is used for collecting the characteristic path on the tail end tool, and the calibration result of the tail end tool in the mechanical arm system is compensated, so that a more accurate calibration result is obtained, and the operation result conforms to a planning scheme to the maximum extent. Meanwhile, the method provided by the invention does not need other third-party tools, saves the cost, is convenient and quick, does not need to spend a large amount of time, and can be carried out in real time in the operation and fed back in real time.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a method, a device, equipment and a storage medium for compensating attitude errors of a mechanical arm.
Background
The joint replacement operation based on arm now contains robot system and vision system two major parts mostly, and all need carry out the demarcation of system before carrying out the operation, mainly includes: camera calibration, robot calibration and calibration of relative positions of the robot and the camera. In view of the high precision of the navigation camera, the camera calibration is not performed, and the calibration result for the robot has errors.
Most of the existing commonly used mechanical arm posture compensation methods operate the mechanical arm to move through a device, and record the front and rear joint angle values corresponding to the actual motion of the mechanical arm, so that the deviation in the motion process is calculated and recorded.
CN107263469A provides a method for compensating the attitude of a robot arm, which detects the angle of joint movement in real time during the process of controlling the movement of the robot arm by pulling the operating part, and corrects the corresponding relationship between the coordinate system of the robot arm and the coordinate system of the operating part according to the movement angle. In addition, the method can only compensate the pose error of the flange at the tail end of the mechanical arm, and cannot compensate the pose error in a coordinate system of a tail end tool when the tail end tool required by the actual operation is installed on the flange.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned shortcomings of the prior art, and provides a method, an apparatus, a device and a storage medium for compensating for an attitude error of a robot arm. According to the invention, the pose error of the tool at the tail end of the mechanical arm caused by the error introduced after the tool at the tail end of the mechanical arm is calibrated and the relative position of the mechanical arm and the navigation camera is calibrated is compensated, so that the mechanical arm can more accurately move to the target pose given by surgical planning.
The invention is realized by the following technical scheme: in a first aspect, the present invention provides a method for compensating an attitude error of a robot arm, including the steps of:
calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and the navigation camera;
acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through a probe;
and calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the end tool under a mechanical arm coordinate system.
Further, the calibrating the tool at the tail end of the mechanical arm and the calibrating the relative position of the mechanical arm and the navigation camera includes:
calibrating a tail end tool installed on a flange of a mechanical arm to obtain the pose of the tail end tool in a flange coordinate system of the mechanical arm;
calibrating the pose of the mechanical arm base under a navigation camera coordinate system by a hand-eye calibration method;
installing a reflective array which can be identified by the navigation camera for the trolley where the mechanical arm is located;
and obtaining the pose of the mechanical arm base under the mechanical arm trolley coordinate system.
Further, the acquiring the pose of the characteristic point of the end tool by the probe under a flange coordinate system of the mechanical arm comprises:
registering a probe with a reflective array under the navigation camera;
acquiring a pose on the tool at the tail end of the mechanical arm according to a preset path by using the probe to obtain the pose of the characteristic point of the tool at the tail end in a navigation camera coordinate system;
and recording the pose of the corresponding trolley array in a navigation camera coordinate system and the pose of the flange in a mechanical arm base coordinate system.
Further, the calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the end tool in a robot arm coordinate system includes:
calculating the pose of the current tail end in the navigation camera coordinate system in the mechanical arm system through the pose of the tail end tool in the flange coordinate system obtained after the mechanical arm is calibrated, the pose of the flange in the mechanical arm base coordinate system obtained through recording, the pose of the mechanical arm base obtained after the mechanical arm and the navigation camera are calibrated in the trolley array coordinate system, and the pose of the trolley array obtained through recording in the navigation camera coordinate system;
acquiring the pose of the tail end of the mechanical arm in the actual navigation camera system in a navigation camera coordinate system through the recorded probe acquisition data and the machining parameters of a preset acquisition path in the tail end tool;
calculating to obtain the offset value of the two;
and transferring the offset value to a flange coordinate system, and compensating the offset value into a calibration result of the end tool under a mechanical arm coordinate system.
In a second aspect, the present invention provides an apparatus for compensating for an attitude error of a robot arm, the apparatus comprising:
the calibration module is used for calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and the navigation camera;
the data acquisition module is used for acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through the probe;
and the error compensation module is used for calculating an error value introduced by calibration, transferring the error value to a flange coordinate system and compensating the error value to a calibration result of the tail end tool under a mechanical arm coordinate system.
In a third aspect, the present invention provides an apparatus for compensating for an attitude error of a robot arm, the apparatus comprising: the robot arm attitude error compensation method comprises a memory, a processor and computer program instructions stored in the memory and capable of running on the processor, wherein the processor is used for executing the computer program instructions stored in the memory so as to realize the robot arm attitude error compensation method.
In a fourth aspect, the present invention further provides a storage medium for compensating an attitude error of a robot arm, where the storage medium stores computer program instructions, and the computer program instructions, when executed by a processor, implement the method for compensating an attitude error of a robot arm described above.
According to the method for compensating the attitude error of the mechanical arm, the probe is used for collecting the characteristic path on the tail end tool, and the calibration result of the tail end tool in the mechanical arm system is compensated, so that a more accurate calibration result is obtained, and the operation result conforms to a planning scheme to the maximum extent. Meanwhile, the method provided by the invention does not need to use other third-party tools, saves cost, is convenient and quick, does not need to spend a large amount of time, can be carried out in real time in the operation, and feeds back in real time, so that whether the compensation is needed for multiple times or not can be judged after the compensation result is evaluated.
Drawings
Features, advantages and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of a method for compensating for an attitude error of a robot arm according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a robot arm attitude error compensation apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computing device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present disclosure will be described in detail below, and in order to make objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to illustrate the disclosure, and are not intended to limit the disclosure. It will be apparent to one skilled in the art that the present disclosure may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present disclosure by illustrating examples thereof.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
For a better understanding of the present invention, embodiments thereof are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a robot arm attitude error compensation method according to an embodiment of the present invention.
As shown in fig. 1, the invention provides a method for compensating attitude error of a mechanical arm, comprising the following steps:
s101, calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and a navigation camera;
s102, acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through a probe;
s103, calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the tail end tool under a mechanical arm coordinate system.
As an optional implementation manner, the performing calibration of the end-of-arm tool and the calibration of the relative position of the robot arm and the navigation camera in S101 includes:
calibrating a tail end tool installed on a mechanical arm flange to obtain the pose of the tail end tool in a mechanical arm flange coordinate system;
calibrating the pose of the mechanical arm base under a navigation camera coordinate system by a hand-eye calibration method;
installing a reflecting array which can be identified by the navigation camera for the trolley where the mechanical arm is located;
and obtaining the pose of the mechanical arm base under the mechanical arm trolley coordinate system.
As an alternative embodiment, the acquiring, by the probe, the pose of the feature point of the end tool in the flange coordinate system of the robot arm in S102 includes:
registering a probe with a reflective array under the navigation camera;
acquiring a pose on the tool at the tail end of the mechanical arm according to a preset path by using the probe to obtain the pose of the characteristic point of the tool at the tail end in a navigation camera coordinate system;
and recording the pose of the corresponding trolley array in the navigation camera coordinate system and the pose of the flange in the mechanical arm base coordinate system.
As an alternative implementation, the calculating an error value introduced by calibration in S103, and transferring the error value to the flange coordinate system to compensate the calibration result of the end tool in the robot arm coordinate system includes:
the pose of the tail end tool in a flange coordinate system obtained after the mechanical arm is calibrated, the pose of the flange in a mechanical arm base coordinate system obtained by recording, the pose of the mechanical arm base obtained after the mechanical arm and the navigation camera are calibrated in a trolley array coordinate system, the pose of the trolley array obtained by recording in the navigation camera coordinate system, and the pose of the current tail end in the mechanical arm system in the navigation camera coordinate system are obtained by calculation;
acquiring the pose of the tail end of the mechanical arm in the actual navigation camera system in a navigation camera coordinate system through the recorded probe acquisition data and the machining parameters of a preset acquisition path in the tail end tool;
calculating to obtain the offset value of the two;
and transferring the offset value to a flange coordinate system, and compensating the offset value into a calibration result of the end tool under a mechanical arm coordinate system.
Fig. 2 is a schematic diagram of a robot arm attitude error compensation apparatus provided in an embodiment of the present invention, and as shown in fig. 2, the apparatus includes:
the calibration module 201 is used for calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and the navigation camera;
the data acquisition module 202 is used for acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through the probe;
and the error compensation module 203 is used for calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the end tool in a mechanical arm coordinate system.
Each module/unit in the apparatus shown in fig. 2 has a function of implementing each step in fig. 1, and can achieve the corresponding technical effect, and for brevity, the description is not repeated here.
As shown in fig. 3, the present invention also provides an apparatus for compensating for an attitude error of a robot arm, the apparatus including: a processor 301, a memory 302, and computer program instructions stored in the memory 302 and executable on the processor 301, wherein the processor 301 is configured to execute the computer program instructions stored in the memory 302 to implement the robot arm attitude error compensation method described above.
Specifically, the processor 301 may include a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the present invention.
In one example, the memory 302 can include removable or non-removable (or fixed) media, or alternatively, memory is non-volatile solid-state memory. The memory may be internal or external to the integrated gateway disaster recovery device.
In one example, memory 302 may be a Read Only Memory (ROM). In one example, the ROM can be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.
In one example, memory 302 may include Read Only Memory (ROM), random Access Memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors), it is operable to perform operations described with reference to the methods according to an aspect of the present disclosure.
The processor 301 reads and executes the computer program instructions stored in the memory 302 to implement the method/steps in the embodiment shown in fig. 1, and can achieve the corresponding technical effects, which are not described herein again for brevity.
In one embodiment, the computing device may also include a communication interface 303 and a bus 304. As shown in fig. 3, the processor 301, the memory 302, and the communication interface 303 are connected via a bus 304 to perform communication with each other.
The communication interface 303 is mainly used for implementing communication between modules, apparatuses, units and/or devices in the present invention.
In addition, the invention also provides a computer storage medium to realize the method for compensating the attitude error of the mechanical arm in combination with the embodiment. The computer storage medium has stored thereon computer program instructions that, when executed by the processor 301, implement the robot arm attitude error compensation method described above.
Embodiments of the present invention provide computer storage media that can take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
According to the method for compensating the attitude error of the mechanical arm, the probe is used for collecting the characteristic path on the tail end tool, and the calibration result of the tail end tool in the mechanical arm system is compensated, so that a more accurate calibration result is obtained, and the operation result conforms to a planning scheme to the maximum extent. Meanwhile, the method provided by the invention does not need to use other third-party tools, saves cost, is convenient and quick, does not need to spend a large amount of time, can be carried out in real time in the operation, and feeds back in real time, so that whether multiple compensations are needed or not can be judged after the compensation result is evaluated.
It is to be understood that this disclosure is not limited to the particular arrangements and instrumentalities described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present disclosure are not limited to the specific steps described and illustrated, and those skilled in the art may make various changes, modifications, and additions or change the order between the steps after comprehending the spirit of the present disclosure.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the present disclosure are the programs or code segments used to perform the required tasks. Computer program code for carrying out operations for aspects of the present invention may be written by those skilled in the relevant art in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, or a combination thereof, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. Further programs or code segments may be stored in a machine-readable medium or transmitted by data signals carried in a carrier wave over transmission media or communication links. A machine-readable medium may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and so forth.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, implement the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific implementation manners of the present disclosure are provided, and it is clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the system, the modules and the units described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present disclosure, and these modifications or substitutions should be covered within the scope of the present disclosure.
Claims (7)
1. A method for compensating attitude errors of a mechanical arm is characterized by comprising the following steps:
s101, calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and a navigation camera;
s102, acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through a probe;
s103, calculating an error value introduced by calibration, transferring the error value to a flange coordinate system, and compensating the error value to a calibration result of the tail end tool in a mechanical arm coordinate system.
2. The method for compensating for the attitude error of the robot arm according to claim 1, wherein the calibrating the tool at the end of the robot arm and the calibrating the relative position between the robot arm and the navigation camera in S101 includes:
calibrating a tail end tool installed on a mechanical arm flange to obtain the pose of the tail end tool in a mechanical arm flange coordinate system;
calibrating the pose of the mechanical arm base under a navigation camera coordinate system by a hand-eye calibration method;
installing a reflecting array which can be identified by the navigation camera for the trolley where the mechanical arm is located;
and obtaining the pose of the mechanical arm base under the mechanical arm trolley coordinate system.
3. The method for compensating the attitude error of the robot arm according to claim 1, wherein the step of acquiring the pose of the feature point of the end tool by the probe in the flange coordinate system of the robot arm in S102 includes:
registering a probe with a reflective array under the navigation camera;
acquiring the pose of the characteristic point of the end tool on the end tool of the mechanical arm according to a preset path by using the probe to obtain the pose of the characteristic point of the end tool in a navigation camera coordinate system;
and recording the pose of the corresponding trolley array in a navigation camera coordinate system and the pose of the flange in a mechanical arm base coordinate system.
4. The method as claimed in claim 1, wherein the step S103 of calculating an error value introduced by calibration and transferring the error value to a flange coordinate system to compensate a calibration result of the end tool in the robot coordinate system comprises:
the pose of the tail end tool in a flange coordinate system obtained after the mechanical arm is calibrated, the pose of the flange in a mechanical arm base coordinate system obtained by recording, the pose of the mechanical arm base obtained after the mechanical arm and the navigation camera are calibrated in a trolley array coordinate system, the pose of the trolley array obtained by recording in the navigation camera coordinate system, and the pose of the current tail end in the mechanical arm system in the navigation camera coordinate system are obtained by calculation;
acquiring the pose of the tail end of the mechanical arm in the actual navigation camera system in a navigation camera coordinate system through the recorded probe acquisition data and the machining parameters of a preset acquisition path in the tail end tool;
calculating to obtain the offset value of the two;
and transferring the offset value to a flange coordinate system, and compensating the offset value into a calibration result of the end tool under a mechanical arm coordinate system.
5. An attitude error compensation device for a robot arm, comprising:
the calibration module is used for calibrating a tool at the tail end of the mechanical arm and calibrating the relative position of the mechanical arm and the navigation camera;
the data acquisition module is used for acquiring the pose of the characteristic point of the end tool in a flange coordinate system of the mechanical arm through the probe;
and the error compensation module is used for calculating an error value introduced by calibration, transferring the error value to a flange coordinate system and compensating the error value to a calibration result of the tail end tool in a mechanical arm coordinate system.
6. An attitude error compensation device for a mechanical arm is characterized in that,
the apparatus comprises: a processor, a memory, and computer program instructions stored in the memory and executable on the processor, wherein the processor is configured to execute the computer program instructions stored in the memory to implement the robot arm pose error compensation method of any of claims 1 to 4.
7. A storage medium for compensating attitude error of a robot arm,
the computer storage medium having stored thereon computer program instructions which, when executed by a processor, implement the robot arm attitude error compensation method of any one of claims 1 to 4.
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| CN202211341380.6A CN115648211A (en) | 2022-10-31 | 2022-10-31 | Method, device and equipment for compensating attitude error of mechanical arm and storage medium |
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| CN202211341380.6A CN115648211A (en) | 2022-10-31 | 2022-10-31 | Method, device and equipment for compensating attitude error of mechanical arm and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860382A (en) * | 2024-01-02 | 2024-04-12 | 北京长木谷医疗科技股份有限公司 | Navigation surgery mechanical arm vision servo pose prediction PD control method based on LSTM |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117860382A (en) * | 2024-01-02 | 2024-04-12 | 北京长木谷医疗科技股份有限公司 | Navigation surgery mechanical arm vision servo pose prediction PD control method based on LSTM |
| CN117860382B (en) * | 2024-01-02 | 2024-06-25 | 北京长木谷医疗科技股份有限公司 | Navigation surgery mechanical arm vision servo pose prediction PD control method based on LSTM |
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